diff --git a/parso/python/grammar310.txt b/parso/python/grammar310.txt
index fce8753..f092050 100644
--- a/parso/python/grammar310.txt
+++ b/parso/python/grammar310.txt
@@ -97,9 +97,7 @@ suite: simple_stmt | NEWLINE INDENT stmt+ DEDENT
 
 namedexpr_test: test [':=' test]
 test: or_test ['if' or_test 'else' test] | lambdef
-test_nocond: or_test | lambdef_nocond
 lambdef: 'lambda' [varargslist] ':' test
-lambdef_nocond: 'lambda' [varargslist] ':' test_nocond
 or_test: and_test ('or' and_test)*
 and_test: not_test ('and' not_test)*
 not_test: 'not' not_test | comparison
@@ -155,7 +153,7 @@ argument: ( test [comp_for] |
 comp_iter: comp_for | comp_if
 sync_comp_for: 'for' exprlist 'in' or_test [comp_iter]
 comp_for: ['async'] sync_comp_for
-comp_if: 'if' test_nocond [comp_iter]
+comp_if: 'if' or_test [comp_iter]
 
 # not used in grammar, but may appear in "node" passed from Parser to Compiler
 encoding_decl: NAME
diff --git a/parso/python/grammar39.txt b/parso/python/grammar39.txt
index f17eba5..ae46033 100644
--- a/parso/python/grammar39.txt
+++ b/parso/python/grammar39.txt
@@ -97,9 +97,7 @@ suite: simple_stmt | NEWLINE INDENT stmt+ DEDENT
 
 namedexpr_test: test [':=' test]
 test: or_test ['if' or_test 'else' test] | lambdef
-test_nocond: or_test | lambdef_nocond
 lambdef: 'lambda' [varargslist] ':' test
-lambdef_nocond: 'lambda' [varargslist] ':' test_nocond
 or_test: and_test ('or' and_test)*
 and_test: not_test ('and' not_test)*
 not_test: 'not' not_test | comparison
@@ -155,7 +153,7 @@ argument: ( test [comp_for] |
 comp_iter: comp_for | comp_if
 sync_comp_for: 'for' exprlist 'in' or_test [comp_iter]
 comp_for: ['async'] sync_comp_for
-comp_if: 'if' test_nocond [comp_iter]
+comp_if: 'if' or_test [comp_iter]
 
 # not used in grammar, but may appear in "node" passed from Parser to Compiler
 encoding_decl: NAME
diff --git a/test/test_python_errors.py b/test/test_python_errors.py
index 270cd44..cda9bd2 100644
--- a/test/test_python_errors.py
+++ b/test/test_python_errors.py
@@ -494,3 +494,14 @@ def test_valid_empty_assignment(code):
 )
 def test_valid_del(code):
     assert not _get_error_list(code)
+
+
+@pytest.mark.parametrize(
+    ('source', 'version', 'no_errors'), [
+        ('[x for x in range(10) if lambda: 1]', '3.8', True),
+        ('[x for x in range(10) if lambda: 1]', '3.9', False),
+        ('[x for x in range(10) if (lambda: 1)]', '3.9', True),
+    ]
+)
+def test_lambda_in_comp_if(source, version, no_errors):
+    assert bool(_get_error_list(source, version=version)) ^ no_errors